Dynamics of the Unicycle - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamics of the Unicycle write by Michał Niełaczny. This book was released on 2018-07-02. Dynamics of the Unicycle available in PDF, EPUB and Kindle. This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
Modern Robotics
Modern Robotics - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Modern Robotics write by Kevin M. Lynch. This book was released on 2017-05-25. Modern Robotics available in PDF, EPUB and Kindle. A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Advances in Emerging Trends and Technologies
Advances in Emerging Trends and Technologies - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Advances in Emerging Trends and Technologies write by Miguel Botto-Tobar. This book was released on 2019-10-18. Advances in Emerging Trends and Technologies available in PDF, EPUB and Kindle. This book constitutes the proceedings of the 1st International Conference on Advances in Emerging Trends and Technologies (ICAETT 2019), held in Quito, Ecuador, on 29–31 May 2019, jointly organized by Universidad Tecnológica Israel, Universidad Técnica del Norte, and Instituto Tecnológico Superior Rumiñahui, and supported by SNOTRA. ICAETT 2019 brought together top researchers and practitioners working in different domains of computer science to share their expertise and to discuss future developments and potential collaborations. Presenting high-quality, peer-reviewed papers, the book discusses the following topics: Technology Trends Electronics Intelligent Systems Machine Vision Communication Security e-Learning e-Business e-Government and e-Participation
Dynamics and Optimal Control of Road Vehicles
Dynamics and Optimal Control of Road Vehicles - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamics and Optimal Control of Road Vehicles write by D. J. N. Limebeer. This book was released on 2018-08-23. Dynamics and Optimal Control of Road Vehicles available in PDF, EPUB and Kindle. Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.
Nonholonomic Mechanics and Control
Nonholonomic Mechanics and Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Nonholonomic Mechanics and Control write by A.M. Bloch. This book was released on 2015-11-05. Nonholonomic Mechanics and Control available in PDF, EPUB and Kindle. This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
